CN219919180U - Ultra-wideband positioning system comprising anomaly detection - Google Patents
Ultra-wideband positioning system comprising anomaly detection Download PDFInfo
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Abstract
The utility model discloses an ultra-wideband positioning system comprising anomaly detection, which comprises a positioning base station group, a standby positioning base station group, positioning labels, an exchanger and a 5G module, wherein the positioning base stations transmit and/or receive self-ranging signals of the positioning base stations through the positioning base stations, and the positioning base stations send self-test reports to a background server at regular time through the exchanger and the 5G module.
Description
Technical Field
The utility model belongs to the technical field of wireless communication, relates to a positioning technology, and in particular relates to an ultra-wideband positioning system comprising anomaly detection.
Background
With the rapid increase of data services and multimedia services, the demand for sensing positional information is increasing on the basis of short-distance high-rate wireless communication. The existing positioning device basically performs positioning based on GNSS (Global Navigation Satellite System) satellite signals, such as a GPS satellite signal in the united states, a GLONASS satellite signal in russia, a GALILEO satellite signal in the european union, and a beidou satellite signal in china. However, in indoor, densely built areas, tunnels, under-the-overhead, underground parking, etc., the received GNSS satellite signals may be very weak or even impossible. At this time, navigation and positioning cannot be achieved by using GNSS satellite signals. In addition, the precision of the current GNSS satellite positioning can only reach the order of meters, and cannot meet the scene requiring accurate positioning, such as positioning personnel, goods, containers and vehicles in the freight or construction scenes of ports, stations, warehouses, construction sites and the like. Therefore, there is a need for those skilled in the art to self-construct a positioning system in the above scenario to meet the requirements of positioning stability and accuracy.
UWB (Ultra Wideband) is a carrierless communication technique that utilizes non-sinusoidal narrow pulses on the order of nanoseconds to picoseconds to transmit data. The UWB has the advantages of narrow pulse width, strong anti-interference performance, high transmission rate, extremely wide bandwidth, small consumed electric energy, small transmission power and the like, can achieve centimeter-level positioning precision, and the positioning system taking the UWB signal as a positioning signal can make up for high-precision positioning in an area which cannot be covered by a GNSS satellite.
The conventional positioning algorithm in the prior art includes TOA positioning and TDOA positioning. The algorithm needs to know the geographic position of each positioning base station in advance in the implementation process, but the positioning base station position is changed due to natural or artificial factors, but a positioning system cannot know the change condition of the positioning base station position, and still uses the initial geographic position of the positioning base station, so that the positioning accuracy is seriously affected. In addition, the positioning base station may have other uncertain factors such as abnormal functions of transmitting or receiving positioning signals, abnormal power supply and the like, so that the positioning system cannot normally realize positioning. Therefore, how to detect whether the geographic position of the positioning base station is abnormal or not, and still ensure the positioning stability of the positioning system when the geographic position of the positioning base station is abnormal, becomes a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above problems, a main object of the present utility model is to design an ultra-wideband positioning system including anomaly detection, which solves the problem that in the prior art, when a currently used positioning base station fails, positioning of a device to be positioned cannot be performed.
The utility model adopts the following technical scheme for realizing the purposes:
an ultra-wideband positioning system including anomaly detection, the system comprising:
the positioning base station group comprises a positioning base station group and a standby positioning base station group;
the positioning base station group comprises a plurality of positioning base stations, self-ranging signals of the positioning base stations are transmitted and/or received among the positioning base stations, and the positioning base stations send self-test reports to a background server at regular time through an exchanger and a 5G module;
the standby positioning base station group comprises a plurality of standby positioning base stations, and the positions of the standby positioning base stations are in one-to-one correspondence with the positions of the positioning base stations;
the positioning tag interacts positioning signals with the positioning base station and the standby positioning base station;
the backup positioning base station comprises a self-checking unit and a positioning calculation unit for calculating the position information of the positioning base station, the backup positioning base station and the positioning label, and the background server comprises a positioning calculation unit and a judging unit for judging whether the positioning base station is abnormal or not.
As a further description of the present utility model, the background server pre-stores the initial position information of the positioning base station and the backup positioning base station.
As a further description of the present utility model, the self-ranging signal of the positioning base station and the positioning signal are ultra-wideband signals.
As a further description of the present utility model, the self-test report includes a conventional self-test report and a self-test report containing self-fault information; the conventional self-test report is acquired by the positioning calculation unit and comprises time information or signal strength of self-ranging signals of the positioning base stations or distance information between the positioning base stations calculated by the positioning base station self-positioning calculation unit; the self-test report containing the self-fault information is acquired through the self-checking unit.
The positioning system disclosed by the utility model can judge that the positioning base stations in the positioning base station group are abnormal according to at least one of the following conditions:
1. the self-ranging is carried out among the positioning base stations in the positioning base station group, and the obtained distance information among the positioning base stations is different from the initial distance information among the positioning base stations obtained by calculating the initial position information of the two positioning base stations;
2. the positioning base stations in the positioning base station group report the self-test report on time;
3. the positioning base stations in the positioning base station group send self-test reports containing self-fault information;
if the positioning base stations in the positioning base station group are judged to be abnormal, the positioning base stations in the positioning base station group are utilized to position the positioning labels, and if the positioning base stations in the positioning base station group are judged to be abnormal, the standby positioning base stations in the standby positioning base station group are utilized to position the positioning labels.
Compared with the prior art, the utility model has the technical effects that:
the utility model provides an ultra-wideband positioning system comprising anomaly detection, wherein when a currently used positioning base station group fails, the positioning of a device to be positioned can be executed through the standby positioning base station group in a mode of matching the set standby positioning base station group with the positioning base station group, so that the stability and the reliability of the positioning system are improved; in addition, through the interactive ranging signals among the positioning base stations in the positioning base station group, whether the positioning base stations displace, the signal receiving and transmitting functions of the positioning base stations, the power supply and communication functions are abnormal or not can be detected, so that whether the switching to the standby positioning base stations is executed or not is determined, the abnormal situation is not required to be manually checked, the abnormal detection automation of the positioning system is realized, and the abnormal situation can be timely found.
Drawings
FIG. 1 is a schematic diagram of the overall system of the present utility model;
FIG. 2 is a schematic diagram of the overall system of the present utility model in an actual use scenario;
FIG. 3 is a schematic diagram of an abnormality detection function implemented in accordance with the present utility model;
fig. 4 is a schematic diagram of a switching flow of a standby positioning unit according to the present utility model.
Description of the embodiments
The utility model is described in detail below with reference to the attached drawing figures:
an ultra-wideband positioning system comprising anomaly detection, as shown in fig. 1, comprises a positioning base station group, a positioning tag and a background server; specifically, the positioning base station group in this embodiment includes a positioning base station group and a backup positioning base station group, and the details are as follows:
the positioning base station group comprises a plurality of positioning base stations, the self-ranging signals of the positioning base stations are transmitted and/or received among the positioning base stations, so that a positioning system can calculate the distance information of the positioning base stations according to the time information or the intensity information of the self-ranging signals of the positioning base stations transmitted and received among the positioning base stations, and the positioning base stations can send self-test reports to a background server at regular time through a switch and a 5G module.
The standby positioning base station group comprises a plurality of standby positioning base stations, and the positions of the standby positioning base stations are in one-to-one correspondence with the positions of the positioning base stations; the positioning tag interacts positioning signals with the positioning base station and the standby positioning base station; and the self-ranging signal of the positioning base station and the positioning signal are ultra-wideband signals.
The backup positioning base station comprises a self-checking unit and a positioning calculation unit, and the background server comprises a positioning calculation unit and a judging unit; the self-checking unit is used for carrying out self-checking on the positioning base station and the standby positioning base station and acquiring own fault information, the positioning calculation unit is used for calculating the position information of the positioning base station, the standby positioning base station and the positioning label, and the judging unit is used for judging whether the positioning base station is abnormal or not; in addition, the background server also pre-stores the initial position information of the positioning base station and the standby positioning base station in advance.
It should also be noted that the self-test report includes a conventional self-test report and a self-test report containing self-fault information; the conventional self-test report is acquired by the positioning calculation unit and comprises time information or signal strength of self-ranging signals of other positioning base stations transmitted and/or received by the positioning base stations or distance information between the positioning base stations calculated by the positioning base station self-positioning calculation unit; the self-test report containing the self-fault information is acquired through the self-checking unit.
The positioning system disclosed by the utility model can judge that the abnormal positioning base stations in the positioning base station group occur through the judging unit according to at least one of the following conditions:
1. the self-ranging is carried out among the positioning base stations in the positioning base station group, and the obtained distance information among the positioning base stations is different from the initial distance information among the positioning base stations obtained by calculating the initial position information of the two positioning base stations;
2. the positioning base stations in the positioning base station group report the self-test report on time;
3. the positioning base stations in the positioning base station group send self-test reports containing self-fault information;
if the positioning base stations in the positioning base station group are judged to be abnormal, the positioning base stations in the positioning base station group are utilized to position the positioning labels, and if the positioning base stations in the positioning base station group are judged to be abnormal, the positioning base stations in the standby positioning base station group are utilized to position the positioning labels.
In this embodiment, referring to fig. 2, the positioning system 100 of the present utility model is configured to include two or more positioning base station groups, each of which includes at least three positioning base stations, and this embodiment is described with reference to including two positioning base station groups, i.e., a positioning base station group (regular) and a standby positioning base station group. Wherein, the positioning base station group includes positioning base stations BS1, BS2 and BS3, and the spare positioning base station group includes spare positioning base stations SBS1, SBS2 and SBS3. The background server SE acquires the state information of the positioning base stations in real time, and when the positioning base stations in the positioning base station group are abnormal, the standby positioning base stations of the standby positioning base station group are switched to position the device MS to be positioned.
It should be noted that, when the to-be-positioned device MS roams to the to-be-positioned area of the positioning system 100, the system allocates ranging resources for the to-be-positioned device MS, where the ranging resources include positioning time slots, positioning frequency points, positioning channels and the like; the positioning tag and the positioning base station enabled by the background server SE realize the transmission and/or the reception of positioning signals on corresponding ranging resources, so that the position information of the MS of the device to be positioned is resolved by utilizing the time information of the transmission and/or the arrival of the positioning signals and the position information of the positioning base station.
In this embodiment, the positioning system 100 has only one positioning base station set enabled to provide positioning service, however, the present utility model does not only include one positioning base station set enabled, but also includes a plurality of positioning base station sets enabled to provide positioning service for the to-be-positioned device MS, and can use the position information provided by the plurality of positioning base station sets in an average manner to improve the positioning accuracy of the to-be-positioned device MS.
In this embodiment, a positioning tag disposed on an MS to be positioned transmits an ultra wideband positioning signal to a positioning base station, the positioning base station receives the ultra wideband positioning signal and records time information that the positioning signal arrives at itself, or the positioning base station transmits an ultra wideband positioning signal, and the positioning tag receives the ultra wideband information and records time information that the positioning signal arrives at itself. The positioning system 100 of the present embodiment uses the positioning calculation unit of the positioning base station and the positioning tag to calculate the position information of the positioning tag by using the TDOA (Time Difference of Arrival, time of Arrival) or TOA (Time of Arrival) positioning algorithm, and can achieve higher positioning accuracy due to the ultra-wideband signal having ultra-high Time resolution.
Specifically, the background server SE calculates the position information of the positioning tag through the positioning calculation unit, and transmits the position information of the positioning tag to the to-be-positioned device MS in real time, so that the to-be-positioned device MS can accurately know the position information of the to-be-positioned device MS according to the position information of the positioning tag, the position relation between the placement of the positioning tag and the to-be-positioned device MS, and the size of the to-be-positioned device MS, and the positioning tags placed on different to-be-positioned devices MS have different identification information, and the background server SE broadcasts the position information of the positioning tag with the identification information to each to-be-positioned device MS, so that the to-be-positioned device MS can obtain the position information of the positioning tag of the to-be-positioned device MS according to the identification information, and can also know the position information of other to-be-positioned devices MS. In addition, in this embodiment, the apparatus to be located MS may also include a location calculation unit, where the location calculation unit calculates the location information of the apparatus to be located MS itself, and issues the location information of the positioning base station in the positioning base stations that are providing the positioning service to the apparatus to be located MS, so as to be used when the apparatus to be located MS calculates the location information.
It should be noted that, in the positioning system disclosed in fig. 2 of this embodiment, the geographical position of each positioning base station needs to be known in advance, but the positioning base station position changes due to natural or artificial factors, but the positioning system cannot know the change situation of the positioning base station position, and still uses the original geographical position of the positioning base station, which seriously affects the positioning accuracy. In addition, when the positioning base station fails to transmit or receive a positioning signal according to a normal standard or other uncertain factors such as abnormal power supply exist, the positioning system cannot normally realize positioning, so in this embodiment, a spare positioning base station group is set, so that when the positioning base station in the conventional positioning base station group is abnormal, the positioning base station using the spare positioning base station group is switched to position the device to be positioned, and in addition, the utility model also includes abnormal function detection of the positioning base station, so that the positioning system can acquire the state of the positioning base station in real time, and determine whether to perform positioning in a mode of switching to the spare positioning base station.
As shown in fig. 3, a schematic diagram of the abnormality detection function implemented in this embodiment is shown, and the abnormality detection function in this embodiment is described in detail by taking abnormality detection of the positioning base stations BS1, BS2 and BS3 in the positioning base station group as an example, specifically as follows:
in this embodiment, abnormality detection is implemented by making each positioning base station mutually transmit and/or receive self-ranging signals between positioning base stations, as shown in fig. 3, which includes self-ranging signals of positioning base stations BS1 and BS2, self-ranging signals of positioning base stations BS2 and BS3, and self-ranging signals of positioning base stations BS1 and BS 3; the self-ranging signals of the positioning base stations are interacted between the two positioning base stations, and the self-ranging signals of the positioning base stations can be transmitted by one positioning base station, the self-ranging signals of the positioning base stations are received by the other positioning base station, or the self-ranging signals of the positioning base stations are transmitted by one positioning base station, and the self-ranging signals of the other positioning base station are transmitted to the positioning base stations after the self-ranging signals of the positioning base stations are received by the other positioning base station.
In the positioning system of this embodiment, the background server SE calculates the distance information of two positioning base stations by using the time for transmitting and receiving the self-ranging signals of the positioning base stations between the positioning base stations, taking the distance between the positioning base stations BS1 and BS2 as an example, specifically, the positioning base station BS1 transmits the self-ranging signals of the positioning base stations to the positioning base station BS2, the positioning base station BS2 receives the self-ranging signals of the positioning base stations, the positioning base station BS1 records the time information for transmitting the self-ranging signals of the positioning base stations, the positioning base station BS2 records the time information for receiving the self-ranging signals of the positioning base stations, and the background server SE calculates the distance between the two positioning base stations by calculating the time information of the self-ranging signals of the base stations according to the time information, specifically, the background server SE reports the recorded time information of the transmitted or received self-ranging signals to the background server SE. It should be noted that, the present embodiment further includes a manner of calculating, by the positioning base station BS1 and/or the positioning base station BS2, the distance information between the positioning base stations BS1 and BS2, specifically, the positioning base station BS1 and/or the positioning base station BS2 exchange the time information recorded by itself and transmitting or receiving the positioning base station self-ranging signal, and the positioning base station BS1 and/or the positioning base station BS2 report the calculated distance information between the positioning base stations BS1 and BS2 to the background server SE.
In addition, in the positioning system of this embodiment, the background server SE calculates the distance information of two positioning base stations by using the intensities of the self-ranging signals of the transmitting and receiving positioning base stations between the positioning base stations, taking the measurement of the distance between the positioning base stations BS1 and BS2 as an example, specifically, the positioning base station BS1 transmits the self-ranging signal of the positioning base station to the positioning base station BS2, the positioning base station BS2 receives the self-ranging signal of the positioning base station, the positioning base station BS1 records the signal intensity of the self-ranging signal of the positioning base station transmitted by the positioning base station BS1, the positioning base station BS2 records the signal intensity of the self-ranging signal received by the positioning base station, the background server SE calculates the signal intensity attenuation of the self-ranging signal of the base station between the two positioning base stations according to the signal intensity, and calculates the distance between the two positioning base stations according to the relation between the signal intensity attenuation of the self-ranging signal of the positioning base station and the flight distance. It should be noted that, the present embodiment further includes a manner of calculating, by the positioning base station BS1 and/or the positioning base station BS2, the distance information between the positioning base stations BS1 and BS2, specifically, the positioning base station BS1 and/or the positioning base station BS2 interactively record the signal strength of the transmitting or receiving positioning base station self-ranging signal, and the positioning base station BS1 and/or the positioning base station BS2 report the calculated distance information between the positioning base stations BS1 and BS2 to the background server SE.
It should be noted that, in this embodiment, the self-ranging signal of the positioning base station and the interactive signal between the positioning base station and the positioning tag are the same signal system, that is, both are ultra wideband signals, so as to avoid mutual interference between the two signals, different resources may be allocated to the self-ranging signal of the positioning base station and the interactive positioning signal, for example, different time periods may be allocated to the self-ranging signal of the interactive positioning base station and the interactive positioning signal, or the self-ranging signal of the positioning base station and the interactive positioning signal between the positioning base station and the positioning tag are different signal systems, for example, different frequency bands or different coding modes may be allocated to the self-ranging signal of the interactive positioning base station and the interactive positioning signal.
The initial position information of the positioning base stations is pre-stored in the background server SE, and then the pre-stored initial position information can be used for calculating the initial distance information between the two positioning base stations, and the background server SE judges whether the positioning base stations have abnormal positions or not by comparing the distance information of the two positioning base stations obtained by utilizing the time information or the signal strength of the self-ranging signals of the transmitting and receiving positioning base stations with the initial distance information.
It should be noted that, when the relative positions of the positioning base stations BS1, BS2 and BS3 are unchanged and only the translation occurs, the distance between the positioning base stations does not change, but since each positioning base station is independently installed, the relative positions of the positioning base stations BS1, BS2 and BS3 do not change, and the possibility of only the translation does not exist, so that the above extreme case is temporarily excluded.
The present utility model also includes determining whether the positioning base station can transmit and/or receive the positioning signal according to a predetermined standard by using intensity information of the self-ranging signals of the positioning base stations transmitted and received between the positioning base stations, specifically, the self-ranging signals of the positioning base stations and the positioning signals interacted between the positioning base stations and the positioning tag are the same signal system, and the two signals share the same signal receiving and transmitting component.
In addition, in this embodiment, whether the positioning base station is abnormal is determined according to whether each positioning base station reports a self-test report on time, where the self-test report may include time information and/or signal strength of a self-ranging signal of the positioning base station transmitted and/or received by the positioning base station, and may further include distance information between positioning base stations that is resolved by the positioning base station itself, and if the positioning base station does not report the self-test report on time, the determining unit determines that the positioning base station is abnormal.
In the embodiment of the present utility model, the positioning base station may further include a self-checking module, so that when the self-checking module fails, the self-checking module actively reports self-failure information to the background server through a self-test report, as shown in fig. 4.
The utility model provides an ultra-wideband positioning system comprising anomaly detection, which solves the problem that a device to be positioned cannot be executed when a currently used positioning base station group fails by a way of matching the set standby positioning base station group with the positioning base station group, and can be used for executing the positioning of the device to be positioned, thereby improving the stability and the reliability of the positioning system; in addition, through the interactive ranging signals among the positioning base stations in the positioning base station group, whether the positioning base stations in the positioning base station group displace, the signal receiving and transmitting functions of the positioning base stations, the power supply and the communication functions of the positioning base stations are abnormal or not can be detected, so that whether the switching to the standby positioning base stations is executed or not is determined, the abnormal situation is not required to be manually checked, the abnormal detection automation of the positioning system is realized, the abnormal situation can be timely found, and the process of starting the standby base station group is executed.
The above embodiments are only for illustrating the technical solution of the present utility model, but not for limiting, and other modifications and equivalents thereof by those skilled in the art should be included in the scope of the claims of the present utility model without departing from the spirit and scope of the technical solution of the present utility model.
Claims (7)
1. An ultra-wideband positioning system including anomaly detection, the system comprising:
the positioning base station group comprises a positioning base station group and a standby positioning base station group;
the positioning base station group comprises a plurality of positioning base stations, self-ranging signals of the positioning base stations are transmitted and/or received among the positioning base stations, and the positioning base stations send self-test reports to a background server at regular time through an exchanger and a 5G module;
the standby positioning base station group comprises a plurality of standby positioning base stations, and the positions of the standby positioning base stations are in one-to-one correspondence with the positions of the positioning base stations;
the positioning tag interacts positioning signals with the positioning base station and the standby positioning base station;
the backup positioning base station comprises a self-checking unit and a positioning calculation unit for calculating the position information of the positioning base station, the backup positioning base station and the positioning label, and the background server comprises a positioning calculation unit and a judging unit for judging whether the positioning base station is abnormal or not.
2. An ultra-wideband positioning system including anomaly detection as claimed in claim 1, wherein: the background server pre-stores the initial position information of the positioning base station and the standby positioning base station.
3. An ultra-wideband positioning system including anomaly detection as claimed in claim 1, wherein: the self-ranging signal of the positioning base station and the positioning signal are ultra-wideband signals.
4. An ultra-wideband positioning system including anomaly detection as claimed in claim 1, wherein: the self-test report includes a conventional self-test report and a self-test report containing self-fault information.
5. An ultra-wideband positioning system including anomaly detection as claimed in claim 4, wherein: the conventional self-test report is obtained by the positioning calculation unit, and comprises time information or signal strength or distance information of the positioning base station transmitting and/or receiving self-ranging signals of the positioning base station.
6. An ultra-wideband positioning system including anomaly detection as claimed in claim 4, wherein: the self-test report containing the self-fault information is acquired through the self-checking unit.
7. An ultra wideband positioning system comprising anomaly detection according to any one of claims 1-6, wherein: the positioning base station group and the standby positioning base station group at least comprise one group.
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| CN202321073152.5U CN219919180U (en) | 2023-05-08 | 2023-05-08 | Ultra-wideband positioning system comprising anomaly detection |
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